version: 66.06
glider: 140
mission: 8
dive: 209
start: 12 1 109 22 36 32
data:
$ID,140
$MISSION,8
$DIVE,209
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-48061.812
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,222536,6310.145,338.513,39,1.1,45,-2.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-50.7
$GPS2,223610,6310.264,338.384,11,99.0,30,-2.9
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,317.5,305063,-13.7,-6.875
$D_GRID,968
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,25,0.00,0.00,-7.68,0.000,2,0.000,0.000,217,2275,1589,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.2,-0.0,1,145,8.60,2.15,-97.95,0.000,4,0.218,0.051,2502,906,3483,0,0,0,0,0,0
$GC,395,-0.65,-116.7,30.9,-12.2,67,402,0.17,2.10,0.00,0.000,6,0.188,0.028,2549,2321,3484,0,0,0,0,0,0
$GC,736,-0.65,-116.7,61.4,-7.9,128,742,0.00,2.15,0.00,0.000,4,0.000,0.035,2550,912,3484,0,0,0,0,0,0
$GC,826,-0.62,-116.7,70.2,-9.6,144,833,0.00,2.08,0.00,0.000,6,0.000,0.028,2550,2298,3484,0,0,0,0,0,0
$GC,1171,-0.62,-116.7,100.6,-6.4,205,1176,0.00,2.08,0.00,0.000,4,0.000,0.034,2550,901,3484,0,0,0,0,0,0
$GC,1217,-0.59,-116.7,104.5,-8.2,213,1223,0.00,2.05,0.00,0.000,6,0.000,0.028,2550,2301,3483,0,0,0,0,0,0
$GC,1551,-0.59,-116.7,125.9,-6.7,262,1555,0.00,2.08,0.00,0.000,4,0.000,0.034,2550,907,3483,0,0,0,0,0,0
$GC,1615,-0.55,-116.7,130.4,-7.4,265,1619,0.12,2.05,0.00,0.000,6,0.195,0.027,2582,2312,3483,0,0,0,0,0,0
$GC,1943,-0.61,-116.7,152.6,-7.3,281,1947,0.00,2.05,0.00,0.000,4,0.000,0.040,2582,3704,3484,0,0,0,0,0,0
$GC,1989,-0.69,-116.7,156.8,-9.1,283,1993,0.12,2.03,0.00,0.000,6,0.129,0.023,2541,2266,3484,0,0,0,0,0,0
$GC,2310,-0.69,-116.7,180.9,-7.4,299,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2265,3484,0,0,0,0,0,0
$GC,2618,-0.69,-116.7,206.9,-8.8,314,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2265,3484,0,0,0,0,0,0
$GC,2927,-0.69,-116.7,231.0,-7.8,329,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2265,3484,0,0,0,0,0,0
$GC,3237,-0.69,-116.7,254.9,-7.8,344,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2265,3484,0,0,0,0,0,0
$GC,3546,-0.69,-116.7,278.4,-8.0,359,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2266,3484,0,0,0,0,0,0
$GC,3867,-0.69,-116.7,303.9,-7.7,374,3871,0.00,2.15,0.00,0.000,4,0.000,0.039,2541,3695,3484,0,0,0,0,0,0
$GC,3944,-0.69,-116.7,310.0,-7.2,376,3948,0.00,2.00,0.00,0.000,6,0.000,0.022,2541,2301,3484,0,0,0,0,0,0
$GC,4268,-0.69,-116.7,334.0,-7.3,387,4271,0.00,2.00,0.00,0.000,4,0.000,0.035,2542,930,3484,0,0,0,0,0,0
$GC,4323,-0.66,-116.7,338.3,-7.9,388,4327,0.00,2.00,0.00,0.000,6,0.000,0.028,2541,2306,3484,0,0,0,0,0,0
$GC,4640,-0.66,-116.7,360.8,-7.2,399,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2307,3484,0,0,0,0,0,0
$GC,4947,-0.66,-116.7,383.0,-7.1,409,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2307,3484,0,0,0,0,0,0
$GC,5253,-0.66,-116.7,406.9,-8.0,419,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2307,3484,0,0,0,0,0,0
$GC,5559,-0.66,-116.7,430.6,-7.3,429,5563,0.00,2.05,0.00,0.000,4,0.000,0.034,2541,923,3484,0,0,0,0,0,0
$GC,5602,-0.66,-116.7,433.9,-7.9,430,5606,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2306,3484,0,0,0,0,0,0
$GC,5931,-0.66,-116.7,457.6,-7.1,441,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2306,3484,0,0,0,0,0,0
$GC,6238,-0.66,-116.7,480.3,-6.9,451,6242,0.00,2.05,0.00,0.000,4,0.000,0.034,2541,918,3484,0,0,0,0,0,0
$GC,6310,-0.66,-116.7,485.2,-6.7,453,6314,0.00,2.05,0.00,0.000,6,0.000,0.028,2541,2301,3484,0,0,0,0,0,0
$GC,6669,-0.66,-116.7,508.4,-6.5,463,6673,0.00,2.08,0.00,0.000,4,0.000,0.041,2541,3704,3483,0,0,0,0,0,0
$GC,6735,-0.66,-116.7,512.6,-5.8,464,6739,0.00,2.00,0.00,0.000,6,0.000,0.023,2541,2311,3484,0,0,0,0,0,0
$GC,7101,-0.66,-116.7,535.3,-6.3,470,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2310,3482,0,0,0,0,0,0
$GC,7404,-0.66,-116.7,555.0,-6.6,475,7408,0.00,2.10,0.00,0.000,4,0.000,0.041,2541,3706,3481,0,0,0,0,0,0
$GC,7492,-0.66,-116.7,560.9,-6.5,476,7496,0.00,2.00,0.00,0.000,6,0.000,0.024,2541,2297,3481,0,0,0,0,0,0
$GC,7835,-0.66,-116.7,583.2,-6.5,482,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2297,3479,0,0,0,0,0,0
$GC,8139,-0.66,-116.7,603.7,-6.8,487,8143,0.00,2.12,0.00,0.000,4,0.000,0.042,2541,3705,3479,0,0,0,0,0,0
$GC,8201,-0.66,-116.7,608.1,-7.2,488,8204,0.00,2.00,0.00,0.000,6,0.000,0.025,2541,2308,3479,0,0,0,0,0,0
$GC,8571,-0.66,-116.7,633.2,-6.6,494,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2306,3476,0,0,0,0,0,0
$GC,8874,-0.66,-116.7,654.0,-7.0,499,8878,0.00,2.10,0.00,0.000,4,0.000,0.043,2542,3696,3474,0,0,0,0,0,0
$GC,8929,-0.66,-116.7,658.2,-7.3,499,8936,0.00,2.05,0.00,0.000,6,0.000,0.025,2541,2296,3474,0,0,0,0,0,0
$GC,9238,-0.66,-116.7,680.2,-7.2,505,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2296,3473,0,0,0,0,0,0
$GC,9541,-0.66,-116.7,701.8,-7.2,510,9545,0.00,2.12,0.00,0.000,4,0.000,0.043,2541,3697,3472,0,0,0,0,0,0
$GC,9631,-0.69,-116.7,708.3,-7.6,511,9635,0.00,2.03,0.00,0.000,6,0.000,0.025,2541,2289,3472,0,0,0,0,0,0
$GC,9968,-0.69,-116.7,731.0,-6.7,517,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2289,3470,0,0,0,0,0,0
$GC,10271,-0.69,-116.7,751.2,-6.7,522,10275,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3702,3469,0,0,0,0,0,0
$GC,10360,-0.72,-116.7,757.3,-6.9,523,10364,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2302,3469,0,0,0,0,0,0
$GC,10702,-0.72,-116.7,780.4,-6.7,529,10706,0.00,2.12,0.00,0.000,4,0.000,0.044,2541,3697,3468,0,0,0,0,0,0
$GC,10758,-0.76,-116.7,784.3,-7.3,529,10763,0.00,2.03,0.00,0.000,6,0.000,0.026,2541,2294,3467,0,0,0,0,0,0
$GC,11067,-0.76,-116.7,804.3,-6.5,535,11071,0.00,2.15,0.00,0.000,4,0.000,0.044,2541,3701,3466,0,0,0,0,0,0
$GC,11117,-0.79,-116.7,807.7,-6.5,535,11121,0.00,2.08,0.00,0.000,6,0.000,0.027,2541,2277,3466,0,0,0,0,0,0
$GC,11437,-0.79,-116.7,828.7,-6.6,541,11441,0.00,2.17,0.00,0.000,4,0.000,0.044,2541,3703,3465,0,0,0,0,0,0
$GC,11486,-0.83,-116.7,832.1,-6.6,541,11491,0.12,2.05,0.00,0.000,6,0.137,0.027,2501,2285,3465,0,0,0,0,0,0
$GC,11795,-0.77,-116.7,857.6,-8.5,546,11799,0.00,2.05,0.00,0.000,4,0.000,0.041,2501,913,3464,0,0,0,0,0,0
$GC,11840,-0.69,-116.7,861.6,-8.6,546,11845,0.15,2.08,0.00,0.000,6,0.194,0.032,2540,2307,3464,0,0,0,0,0,0
$GC,12160,-0.69,-116.7,883.6,-6.8,552,12164,0.00,2.10,0.00,0.000,4,0.000,0.044,2539,3703,3464,0,0,0,0,0,0
$GC,12244,-0.73,-116.7,889.2,-7.3,553,12248,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2291,3463,0,0,0,0,0,0
$GC,12598,-0.73,-116.7,911.7,-6.3,559,12602,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3705,3462,0,0,0,0,0,0
$GC,12653,-0.77,-116.7,915.2,-6.6,559,12659,0.00,2.05,0.00,0.000,6,0.000,0.027,2540,2290,3463,0,0,0,0,0,0
$GC,12962,-0.77,-116.7,934.1,-6.1,565,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2290,3462,0,0,0,0,0,0
$GC,13265,-0.77,-116.7,951.8,-5.7,570,13269,0.00,2.15,0.00,0.000,4,0.000,0.044,2540,3697,3462,0,0,0,0,0,0
$GC,13354,-0.82,-116.7,956.9,-5.8,571,13359,0.12,2.03,0.00,0.000,6,0.137,0.027,2501,2294,3462,0,0,0,0,0,0
$STATE,13567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13567,begin apogee
$GC,13573,-0.24,0.0,971.7,7.0,575,13673,0.62,0.00,97.18,1.534,6,0.170,0.000,2684,2650,3006,0,0,0,0,0,0
$STATE,13674,end apogee,CONTROL_FINISHED_OK
$STATE,13674,begin climb
$GC,13676,0.80,116.7,973.5,0.0,576,13792,1.02,2.45,105.60,1.437,4,0.113,0.047,3010,4039,2528,0,0,0,0,0,0
$GC,13842,0.57,116.7,967.2,8.2,578,13847,0.28,2.20,0.00,0.000,6,0.177,0.026,2952,2648,2523,0,0,0,0,0,0
$GC,14169,0.54,122.5,945.4,6.6,584,14176,0.00,0.00,4.75,1.080,6,0.000,0.000,2952,2648,2506,0,0,0,0,0,0
$GC,14471,0.51,130.7,925.7,6.5,589,14485,0.00,2.25,8.85,1.345,4,0.000,0.048,2952,4035,2473,0,0,0,0,0,0
$GC,14503,0.44,130.7,923.1,7.0,589,14508,0.20,2.08,0.00,0.000,6,0.188,0.027,2907,2642,2472,0,0,0,0,0,0
$GC,14841,0.54,168.2,904.6,5.4,595,14877,0.00,0.00,34.30,1.431,6,0.000,0.000,2907,2643,2319,0,0,0,0,0,0
$GC,15144,0.63,174.8,884.9,6.6,600,15158,0.17,2.20,6.55,1.248,4,0.104,0.038,2977,1255,2292,0,0,0,0,0,0
$GC,15163,0.63,174.8,883.2,8.4,600,15167,0.00,2.20,0.00,0.000,6,0.000,0.035,2978,2678,2292,0,0,0,0,0,0
$GC,15513,0.58,174.8,853.0,8.7,606,15514,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2678,2289,0,0,0,0,0,0
$GC,15815,0.54,174.8,828.2,8.2,611,15820,0.15,2.10,0.00,0.000,4,0.183,0.048,2939,4043,2288,0,0,0,0,0,0
$GC,15835,0.54,174.8,826.4,8.2,611,15840,0.00,2.10,0.00,0.000,6,0.000,0.027,2948,2646,2288,0,0,0,0,0,0
$GC,16179,0.54,174.8,801.7,7.2,617,16180,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2645,2287,0,0,0,0,0,0
$GC,16482,0.54,174.8,779.3,7.4,622,16483,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2645,2287,0,0,0,0,0,0
$GC,16785,0.54,174.8,757.0,7.4,627,16786,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2645,2286,0,0,0,0,0,0
$GC,17088,0.54,174.8,735.0,7.2,632,17092,0.00,2.08,0.00,0.000,4,0.000,0.041,2951,1257,2286,0,0,0,0,0,0
$GC,17098,0.54,174.8,734.3,7.0,632,17103,0.00,2.15,0.00,0.000,6,0.000,0.035,2951,2655,2286,0,0,0,0,0,0
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$STATE,26793,end climb,SURFACE_DEPTH_REACHED
$STATE,26793,begin surface coast
$FINISH,2.5,1.027193
$STATE,26843,end surface coast,CONTROL_FINISHED_OK
$STATE,26843,begin surface
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$TCM_TEMP,20.50
$XPDR_PINGS,0
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$10V_AH,10.0,22.882
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,233760
$DATA_FILE_SIZE,66517,1154
$CAP_FILE_SIZE,209667,0
$CFSIZE,260165632,237740032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,297.2,1
$GPS,021209,060606,6312.791,331.699,40,1.5,47,-3.0